Method for detecting an object

The invention relates to a method for detecting an object in a spatial region. The method comprises the following steps for each cell of a plurality of cells of the spatial region: determining evidence masses for the hypotheses that a cell is occupied, is not occupied, or may not be occupied at a current point in time on the basis of sensor data relating to the spatial region; determining predicted evidence masses for the hypotheses at the current point in time on the basis of actual evidence masses for a hypothesis at a previous point in time and on the basis of a plurality of particles for a corresponding plurality of movement hypotheses for the cell; and determining the actual evidence masses at the actual point in time by combining the measured evidence masses with the predicted evidence masses at the current point in time.